Tobias Berger / Mbed 2 deprecated Robocode

Tobis Programm forked to not destroy your golden files

Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/Robot.cpp@81:956f65714207, 2017-05-01 (annotated)

Committer:
aeschsim
Date:
Mon May 01 07:39:18 2017 +0000
Revision:
81:956f65714207
Parent:
80:92b9d083322d
Child:
88:b89cace9329b
new testfunction, get_color works now;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 34:40d8d29b44b8 1 // Roboter file
cittecla 34:40d8d29b44b8 2
cittecla 34:40d8d29b44b8 3
cittecla 34:40d8d29b44b8 4 #include "mbed.h"
cittecla 34:40d8d29b44b8 5 #include "Robot.h"
cittecla 34:40d8d29b44b8 6 #include "EncoderCounter.h"
cittecla 34:40d8d29b44b8 7 #include "LowpassFilter.h"
cittecla 34:40d8d29b44b8 8 #include "IMU.h"
cittecla 34:40d8d29b44b8 9
cittecla 34:40d8d29b44b8 10 #include "IRSensor.h"
cittecla 34:40d8d29b44b8 11
aeschsim 55:a1e6fb87d648 12 //Define I2C-Servoboard Consts
aeschsim 55:a1e6fb87d648 13 #define ADRESS 0x40
aeschsim 55:a1e6fb87d648 14 #define MODE1 0x00
aeschsim 55:a1e6fb87d648 15 #define MODE2 0x01
aeschsim 55:a1e6fb87d648 16 #define PRESCALE 0xFE
aeschsim 55:a1e6fb87d648 17 #define LED0_ON_L 0x06
aeschsim 55:a1e6fb87d648 18 #define LED0_ON_H 0x07
aeschsim 55:a1e6fb87d648 19 #define LED0_OFF_L 0x08
cittecla 60:b57577b0072f 20 #define LED0_OFF_H 0x09
aeschsim 55:a1e6fb87d648 21
aeschsim 55:a1e6fb87d648 22 #define RESTART 0x80
aeschsim 55:a1e6fb87d648 23 #define SLEEP 0x10
aeschsim 55:a1e6fb87d648 24
aeschsim 73:f7657ddb7827 25 #define servo0center 300
aeschsim 73:f7657ddb7827 26 #define servo2center 300
aeschsim 73:f7657ddb7827 27
cittecla 34:40d8d29b44b8 28
cittecla 34:40d8d29b44b8 29 const float PERIOD = 0.001f; // period of control task, given in [s]
cittecla 34:40d8d29b44b8 30 const float COUNTS_PER_TURN = 1200.0f; // resolution of encoder counter
cittecla 34:40d8d29b44b8 31 const float LOWPASS_FILTER_FREQUENCY = 300.0f; // frequency of lowpass filter for actual speed values, given in [rad/s]
cittecla 34:40d8d29b44b8 32 const float KN = 40.0f; // speed constant of motor, given in [rpm/V]
cittecla 34:40d8d29b44b8 33 const float KP = 0.2f; // speed controller gain, given in [V/rpm]
cittecla 34:40d8d29b44b8 34 const float MAX_VOLTAGE = 12.0f; // supply voltage for power stage in [V]
cittecla 34:40d8d29b44b8 35 const float MIN_DUTY_CYCLE = 0.02f; // minimum allowed value for duty cycle (2%)
cittecla 34:40d8d29b44b8 36 const float MAX_DUTY_CYCLE = 0.98f; // maximum allowed value for duty cycle (98%)
cittecla 34:40d8d29b44b8 37 const float correction_value = 2.45f; // correction value for desired speed
cittecla 61:628f8a4e857c 38
cittecla 34:40d8d29b44b8 39 LowpassFilter speedLeftFilter;
cittecla 34:40d8d29b44b8 40 LowpassFilter speedRightFilter;
cittecla 34:40d8d29b44b8 41
aeschsim 55:a1e6fb87d648 42 DigitalIn user(USER_BUTTON);
aeschsim 55:a1e6fb87d648 43
cittecla 34:40d8d29b44b8 44 //Motor stuff
cittecla 34:40d8d29b44b8 45 EncoderCounter counterLeft(PB_6, PB_7);
cittecla 34:40d8d29b44b8 46 EncoderCounter counterRight(PA_6, PC_7);
cittecla 34:40d8d29b44b8 47
cittecla 34:40d8d29b44b8 48 DigitalOut enableMotorDriver(PB_2);
cittecla 34:40d8d29b44b8 49 PwmOut pwmLeft(PA_8);
cittecla 34:40d8d29b44b8 50 PwmOut pwmRight(PA_9);
cittecla 34:40d8d29b44b8 51
cittecla 34:40d8d29b44b8 52 DigitalOut my_led(LED1);
cittecla 34:40d8d29b44b8 53
cittecla 34:40d8d29b44b8 54 //Periphery for distance sensors
cittecla 34:40d8d29b44b8 55 AnalogIn distance(PB_1);
aeschsim 55:a1e6fb87d648 56 AnalogIn distance2(PA_1);
cittecla 80:92b9d083322d 57 DigitalOut IRenable(PC_1);
cittecla 34:40d8d29b44b8 58 DigitalOut bit0(PH_1);
cittecla 34:40d8d29b44b8 59 DigitalOut bit1(PC_2);
cittecla 34:40d8d29b44b8 60 DigitalOut bit2(PC_3);
cittecla 34:40d8d29b44b8 61
cittecla 34:40d8d29b44b8 62 IRSensor sensors[6];
cittecla 34:40d8d29b44b8 63
cittecla 34:40d8d29b44b8 64 //indicator leds arround robot
cittecla 34:40d8d29b44b8 65 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
cittecla 34:40d8d29b44b8 66
cittecla 34:40d8d29b44b8 67
cittecla 34:40d8d29b44b8 68 //Periphery for the IMU
cittecla 34:40d8d29b44b8 69 SPI spi(PC_12, PC_11, PC_10);
cittecla 34:40d8d29b44b8 70 DigitalOut csG(PA_15);
cittecla 34:40d8d29b44b8 71 DigitalOut csXM(PD_2);
cittecla 34:40d8d29b44b8 72
cittecla 34:40d8d29b44b8 73 IMU imu(spi, csG, csXM);
cittecla 34:40d8d29b44b8 74
cittecla 34:40d8d29b44b8 75 //Periphery for I2C
cittecla 34:40d8d29b44b8 76 I2C i2c(PB_9, PB_8);
cittecla 34:40d8d29b44b8 77 DigitalOut Servo_enable(PA_10);
cittecla 34:40d8d29b44b8 78
aeschsim 55:a1e6fb87d648 79 //Color sensor
cittecla 60:b57577b0072f 80 DigitalIn red(PB_13);
cittecla 60:b57577b0072f 81 DigitalIn green(PC_4);
cittecla 34:40d8d29b44b8 82
cittecla 34:40d8d29b44b8 83 short previousValueCounterRight = 0;
cittecla 34:40d8d29b44b8 84 short previousValueCounterLeft = 0;
cittecla 34:40d8d29b44b8 85
cittecla 34:40d8d29b44b8 86 float desiredSpeedLeft = 0;
cittecla 34:40d8d29b44b8 87 float desiredSpeedRight = 0;
cittecla 34:40d8d29b44b8 88
cittecla 34:40d8d29b44b8 89 float actualSpeedLeft;
cittecla 34:40d8d29b44b8 90 float actualSpeedRight;
cittecla 34:40d8d29b44b8 91
cittecla 34:40d8d29b44b8 92
cittecla 61:628f8a4e857c 93 bool get_user()
aeschsim 55:a1e6fb87d648 94 {
aeschsim 55:a1e6fb87d648 95 return user;
cittecla 61:628f8a4e857c 96 }
cittecla 34:40d8d29b44b8 97
cittecla 34:40d8d29b44b8 98
cittecla 34:40d8d29b44b8 99 void Robot_init_all()
cittecla 34:40d8d29b44b8 100 {
cittecla 34:40d8d29b44b8 101 Speedcontroller_init();
cittecla 34:40d8d29b44b8 102 Sensor_init();
cittecla 57:1a395b6928ee 103 init_servo(60);
cittecla 34:40d8d29b44b8 104 }
cittecla 34:40d8d29b44b8 105
cittecla 34:40d8d29b44b8 106 //speed controll
cittecla 34:40d8d29b44b8 107 void Speedcontroller_init()
cittecla 34:40d8d29b44b8 108 {
cittecla 34:40d8d29b44b8 109 // Initialisieren der PWM Ausgaenge pwmLeft.period(0.00005f); // PWM Periode von 50 us
cittecla 34:40d8d29b44b8 110 pwmLeft.period(0.00005f); // Setzt die Periode auf 50 μs
cittecla 34:40d8d29b44b8 111 pwmRight.period(0.00005f);
cittecla 34:40d8d29b44b8 112 pwmLeft = 0.5f; // Duty-Cycle von 50% pwmRight.period(0.00005f); // PWM Periode von 50 us
cittecla 34:40d8d29b44b8 113 pwmRight = 0.5f; // Duty-Cycle von 50%
cittecla 34:40d8d29b44b8 114
cittecla 34:40d8d29b44b8 115 // Initialisieren von lokalen Variabeln
cittecla 34:40d8d29b44b8 116 previousValueCounterLeft = counterLeft.read();
cittecla 34:40d8d29b44b8 117 previousValueCounterRight = counterRight.read();
cittecla 34:40d8d29b44b8 118 speedLeftFilter.setPeriod(PERIOD);
cittecla 34:40d8d29b44b8 119 speedLeftFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
cittecla 34:40d8d29b44b8 120 speedRightFilter.setPeriod(PERIOD);
cittecla 34:40d8d29b44b8 121 speedRightFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
cittecla 34:40d8d29b44b8 122
cittecla 34:40d8d29b44b8 123 desiredSpeedLeft = 0.0f;
cittecla 34:40d8d29b44b8 124 desiredSpeedRight = 0.0f;
cittecla 34:40d8d29b44b8 125 actualSpeedLeft = 0.0f;
cittecla 34:40d8d29b44b8 126 actualSpeedRight = 0.0f;
cittecla 34:40d8d29b44b8 127
cittecla 34:40d8d29b44b8 128 Ticker t1;
cittecla 34:40d8d29b44b8 129 t1.attach( &speedCtrl, PERIOD);
cittecla 34:40d8d29b44b8 130
cittecla 34:40d8d29b44b8 131 //desiredSpeedLeft = 50.0f+correction_value; //50 RPM
cittecla 34:40d8d29b44b8 132 //desiredSpeedRight = -50.0f; //50 RPM
cittecla 34:40d8d29b44b8 133 enableMotorDriver = 1;
cittecla 34:40d8d29b44b8 134 }
cittecla 34:40d8d29b44b8 135
cittecla 34:40d8d29b44b8 136 void set_speed(float left, float right)
cittecla 34:40d8d29b44b8 137 {
cittecla 34:40d8d29b44b8 138 desiredSpeedLeft = left+correction_value; //50 RPM
cittecla 34:40d8d29b44b8 139 desiredSpeedRight = -right; //50 RPM
cittecla 34:40d8d29b44b8 140 }
cittecla 34:40d8d29b44b8 141
cittecla 61:628f8a4e857c 142 float get_speed_left()
cittecla 61:628f8a4e857c 143 {
cittecla 61:628f8a4e857c 144 return actualSpeedLeft;
cittecla 61:628f8a4e857c 145 }
cittecla 61:628f8a4e857c 146
cittecla 61:628f8a4e857c 147 float get_speed_right()
cittecla 61:628f8a4e857c 148 {
cittecla 61:628f8a4e857c 149 return actualSpeedRight;
cittecla 61:628f8a4e857c 150 }
cittecla 61:628f8a4e857c 151
cittecla 34:40d8d29b44b8 152
cittecla 34:40d8d29b44b8 153 void speedCtrl()
cittecla 34:40d8d29b44b8 154 {
cittecla 34:40d8d29b44b8 155 // Berechnen die effektiven Drehzahlen der Motoren in [rpm]
cittecla 34:40d8d29b44b8 156 short valueCounterLeft = counterLeft.read();
cittecla 34:40d8d29b44b8 157 short valueCounterRight = counterRight.read();
cittecla 34:40d8d29b44b8 158 short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft;
cittecla 34:40d8d29b44b8 159 short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight;
cittecla 34:40d8d29b44b8 160
cittecla 34:40d8d29b44b8 161 previousValueCounterLeft = valueCounterLeft;
cittecla 34:40d8d29b44b8 162 previousValueCounterRight = valueCounterRight;
cittecla 34:40d8d29b44b8 163 actualSpeedLeft = speedLeftFilter.filter((float)countsInPastPeriodLeft /COUNTS_PER_TURN/PERIOD*60.0f);
cittecla 34:40d8d29b44b8 164 actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight /COUNTS_PER_TURN/PERIOD*60.0f);
cittecla 34:40d8d29b44b8 165
cittecla 34:40d8d29b44b8 166 // Berechnen der Motorspannungen Uout
cittecla 34:40d8d29b44b8 167 float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+desiredSpeedLeft/KN;
cittecla 34:40d8d29b44b8 168 float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+desiredSpeedRight/KN;
cittecla 34:40d8d29b44b8 169
cittecla 34:40d8d29b44b8 170 // Berechnen, Limitieren und Setzen der Duty-Cycle
cittecla 34:40d8d29b44b8 171 float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE;
cittecla 34:40d8d29b44b8 172 if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 173 else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 174
cittecla 34:40d8d29b44b8 175 pwmLeft = dutyCycleLeft;
cittecla 34:40d8d29b44b8 176 float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE;
cittecla 34:40d8d29b44b8 177 if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 178 else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 179
cittecla 34:40d8d29b44b8 180 pwmRight = dutyCycleRight;
cittecla 34:40d8d29b44b8 181 }
cittecla 34:40d8d29b44b8 182
cittecla 34:40d8d29b44b8 183 //Sensors
cittecla 34:40d8d29b44b8 184 void Sensor_init()
cittecla 34:40d8d29b44b8 185 {
cittecla 34:40d8d29b44b8 186 for( int ii = 0; ii<6; ++ii)
cittecla 72:4e8a151d804e 187 sensors[ii].init(&distance,&distance2, &bit0, &bit1, &bit2, ii);
cittecla 80:92b9d083322d 188
cittecla 80:92b9d083322d 189 IRenable = 1;
cittecla 34:40d8d29b44b8 190 }
cittecla 34:40d8d29b44b8 191
cittecla 34:40d8d29b44b8 192 float getDistanceIR(int number)
cittecla 34:40d8d29b44b8 193 {
cittecla 34:40d8d29b44b8 194 return sensors[number];
cittecla 34:40d8d29b44b8 195 }
cittecla 34:40d8d29b44b8 196
aeschsim 55:a1e6fb87d648 197 //Color
cittecla 61:628f8a4e857c 198 bool get_color()
cittecla 61:628f8a4e857c 199 {
aeschsim 81:956f65714207 200 if (red == 1 && green == 0) { //Active - LOW
aeschsim 55:a1e6fb87d648 201 return 1;
aeschsim 55:a1e6fb87d648 202 } else {
aeschsim 55:a1e6fb87d648 203 return 0;
aeschsim 55:a1e6fb87d648 204 }
aeschsim 55:a1e6fb87d648 205 }
aeschsim 55:a1e6fb87d648 206
cittecla 34:40d8d29b44b8 207 //IMU
cittecla 34:40d8d29b44b8 208 float read_acc_x()
cittecla 34:40d8d29b44b8 209 {
cittecla 34:40d8d29b44b8 210 return imu.readAccelerationX();
cittecla 34:40d8d29b44b8 211 }
cittecla 34:40d8d29b44b8 212
cittecla 34:40d8d29b44b8 213 float read_acc_y()
cittecla 34:40d8d29b44b8 214 {
cittecla 34:40d8d29b44b8 215 return imu.readAccelerationY();
cittecla 34:40d8d29b44b8 216 }
cittecla 34:40d8d29b44b8 217
cittecla 34:40d8d29b44b8 218 float read_acc_z()
cittecla 34:40d8d29b44b8 219 {
cittecla 34:40d8d29b44b8 220 return imu.readAccelerationZ();
cittecla 34:40d8d29b44b8 221 }
cittecla 34:40d8d29b44b8 222
cittecla 34:40d8d29b44b8 223 float read_gyr_x()
cittecla 34:40d8d29b44b8 224 {
cittecla 34:40d8d29b44b8 225 return imu.readGyroX();
cittecla 34:40d8d29b44b8 226 }
cittecla 34:40d8d29b44b8 227
cittecla 34:40d8d29b44b8 228 float read_gyr_y()
cittecla 34:40d8d29b44b8 229 {
cittecla 34:40d8d29b44b8 230 return imu.readGyroY();
cittecla 34:40d8d29b44b8 231 }
cittecla 34:40d8d29b44b8 232
cittecla 34:40d8d29b44b8 233 float read_gyr_z()
cittecla 34:40d8d29b44b8 234 {
cittecla 34:40d8d29b44b8 235 return imu.readGyroZ();
cittecla 34:40d8d29b44b8 236 }
cittecla 34:40d8d29b44b8 237
cittecla 34:40d8d29b44b8 238 float read_heading()
cittecla 34:40d8d29b44b8 239 {
cittecla 38:3526c36e4c73 240 double deg = (double)(180.0f/(double)M_PI*imu.readHeading());
cittecla 38:3526c36e4c73 241 return deg;
cittecla 34:40d8d29b44b8 242 }
cittecla 34:40d8d29b44b8 243
cittecla 34:40d8d29b44b8 244
cittecla 34:40d8d29b44b8 245 // Servo I2C
aeschsim 55:a1e6fb87d648 246
aeschsim 55:a1e6fb87d648 247
aeschsim 55:a1e6fb87d648 248 void init_servo(int freq)
aeschsim 55:a1e6fb87d648 249 {
aeschsim 55:a1e6fb87d648 250 char data[2];
aeschsim 55:a1e6fb87d648 251 //Reset
aeschsim 55:a1e6fb87d648 252 data[0] = (char) MODE1;
cittecla 61:628f8a4e857c 253 data[1] = (char) SLEEP;
aeschsim 55:a1e6fb87d648 254 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 255
aeschsim 55:a1e6fb87d648 256 wait_ms(1);
cittecla 61:628f8a4e857c 257
aeschsim 55:a1e6fb87d648 258 float prescaleval = 25000000.0; //25MHz
aeschsim 55:a1e6fb87d648 259 prescaleval /= 4096.0f; //12-Bit
aeschsim 42:08b3aea29254 260 prescaleval /= (float)freq;
aeschsim 43:9f291a496db8 261 prescaleval -= 1.0f;
aeschsim 55:a1e6fb87d648 262 char prescale = (char)(prescaleval); //0x64 bei 50Hz
cittecla 61:628f8a4e857c 263
aeschsim 55:a1e6fb87d648 264 data[0] = (char) PRESCALE;
aeschsim 55:a1e6fb87d648 265 data[1] = prescale;
aeschsim 55:a1e6fb87d648 266 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 267
aeschsim 55:a1e6fb87d648 268 data[0] = (char) MODE1;
aeschsim 55:a1e6fb87d648 269 data[1] = 0x00; //wake up
aeschsim 55:a1e6fb87d648 270 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 271
aeschsim 55:a1e6fb87d648 272 wait_ms(1);
cittecla 61:628f8a4e857c 273
aeschsim 55:a1e6fb87d648 274 data[0] = (char) MODE1;
cittecla 61:628f8a4e857c 275 data[1] = 0x80; //do restart
aeschsim 55:a1e6fb87d648 276 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 277
aeschsim 55:a1e6fb87d648 278 wait_ms(1);
cittecla 61:628f8a4e857c 279
aeschsim 55:a1e6fb87d648 280 data[0] = (char) MODE2;
aeschsim 55:a1e6fb87d648 281 data[1] = (char) 0x04;
aeschsim 55:a1e6fb87d648 282 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 283
aeschsim 55:a1e6fb87d648 284 wait_ms(1);
aeschsim 55:a1e6fb87d648 285
aeschsim 55:a1e6fb87d648 286 printf("init done...\r\n");
aeschsim 55:a1e6fb87d648 287 }
aeschsim 42:08b3aea29254 288
aeschsim 55:a1e6fb87d648 289 void set_servo_position(int servo, int deg)
aeschsim 55:a1e6fb87d648 290 {
cittecla 62:c2fcf3b349e9 291 // Servo 0 = IR_left
cittecla 62:c2fcf3b349e9 292 // Servo 2 = IR_right
cittecla 62:c2fcf3b349e9 293 // Servo 4 = Arm_1
cittecla 62:c2fcf3b349e9 294 // Servo 6 = Arm_2
cittecla 62:c2fcf3b349e9 295 // Servo 8 = Grabber
aeschsim 73:f7657ddb7827 296 if (servo == 0) {
aeschsim 73:f7657ddb7827 297 deg = servo0center + 3*deg;
aeschsim 73:f7657ddb7827 298 }
aeschsim 73:f7657ddb7827 299 if (servo == 2) {
aeschsim 73:f7657ddb7827 300 deg = servo2center + 3*deg;
aeschsim 73:f7657ddb7827 301 }
aeschsim 73:f7657ddb7827 302
aeschsim 73:f7657ddb7827 303 //only for tests with putty
aeschsim 55:a1e6fb87d648 304 if (deg < 0 || deg > 4095) {
aeschsim 55:a1e6fb87d648 305 deg = 300;
cittecla 75:dba260cb5ae4 306 }
aeschsim 55:a1e6fb87d648 307 char data[2];
aeschsim 55:a1e6fb87d648 308 int16_t wert1 = (deg>>8);
aeschsim 55:a1e6fb87d648 309 int16_t wert2 = (deg & 0xFF);
aeschsim 55:a1e6fb87d648 310 printf("%x %x servo deg\r\n",wert1,wert2);
cittecla 61:628f8a4e857c 311
aeschsim 55:a1e6fb87d648 312 data[0] = (char)LED0_ON_L+(4*servo);
aeschsim 55:a1e6fb87d648 313 data[1] = 0x00;
aeschsim 55:a1e6fb87d648 314 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 315
aeschsim 55:a1e6fb87d648 316 data[0] = (char)LED0_ON_H+(4*servo);
aeschsim 55:a1e6fb87d648 317 data[1] = 0x00;
aeschsim 55:a1e6fb87d648 318 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 319
aeschsim 55:a1e6fb87d648 320 data[0] = (char)LED0_OFF_L+(4*servo);
aeschsim 55:a1e6fb87d648 321 data[1] = (char)wert2;
aeschsim 55:a1e6fb87d648 322 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 323
aeschsim 55:a1e6fb87d648 324 data[0] = (char)LED0_OFF_H+(4*servo);
aeschsim 55:a1e6fb87d648 325 data[1] = (char)wert1;
cittecla 61:628f8a4e857c 326 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 327 }
aeschsim 55:a1e6fb87d648 328
cittecla 61:628f8a4e857c 329 int getPWM(uint8_t servo)
aeschsim 55:a1e6fb87d648 330 {
aeschsim 55:a1e6fb87d648 331 char read = 255;
aeschsim 55:a1e6fb87d648 332 char secondread = 255;
aeschsim 55:a1e6fb87d648 333 char data;
aeschsim 55:a1e6fb87d648 334 data = (char)(LED0_ON_L+(4*servo));
aeschsim 55:a1e6fb87d648 335 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 336 i2c.read((ADRESS<<1), &read, 1, 0);
aeschsim 55:a1e6fb87d648 337 data = (char)(LED0_ON_H+(4*servo));
aeschsim 55:a1e6fb87d648 338 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 339 i2c.read((ADRESS<<1), &secondread, 1, 0);
aeschsim 55:a1e6fb87d648 340 printf("LED %d ON_L: %x ON_H: %x\r\n",servo, read, secondread);
aeschsim 55:a1e6fb87d648 341 return (int)read;
aeschsim 55:a1e6fb87d648 342 }
aeschsim 55:a1e6fb87d648 343
cittecla 61:628f8a4e857c 344 int getPRESCALE(void)
aeschsim 55:a1e6fb87d648 345 {
aeschsim 55:a1e6fb87d648 346 char read = 255;
aeschsim 55:a1e6fb87d648 347 char data;
aeschsim 55:a1e6fb87d648 348 data = (char)(PRESCALE);
aeschsim 55:a1e6fb87d648 349 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 350 i2c.read((ADRESS<<1), &read, 1, 0);
aeschsim 55:a1e6fb87d648 351 printf("read Prescale value: >>%x<<\r\n",read);
aeschsim 55:a1e6fb87d648 352 return (int)read;
aeschsim 55:a1e6fb87d648 353 }
cittecla 61:628f8a4e857c 354
cittecla 61:628f8a4e857c 355 void enable_servos()
cittecla 61:628f8a4e857c 356 {
aeschsim 55:a1e6fb87d648 357 Servo_enable = 0;
cittecla 61:628f8a4e857c 358 }
cittecla 61:628f8a4e857c 359
cittecla 61:628f8a4e857c 360 void disable_servos()
cittecla 61:628f8a4e857c 361 {
aeschsim 55:a1e6fb87d648 362 Servo_enable = 1;
cittecla 61:628f8a4e857c 363 }